CN219821752U

CN219821752U - Lift system of coaxial four-rotor aircraft

Info

Publication number: CN219821752U
Application number: CN202321203307.2U
Authority: CN
Inventors: 吴华锋
Original assignee: Arnott Hubei Aviation Technology Co ltd
Current assignee: Arnott Hubei Aviation Technology Co ltd
Priority date: 2023-05-18
Filing date: 2023-05-18
Publication date: 2023-10-13
Anticipated expiration: 2033-05-18

Abstract

The utility model relates to a coaxial four-rotor aircraft lifting system, which comprises an I-shaped main transmission mechanism (1), wherein four power output ends of the I-shaped main transmission mechanism (1) are respectively provided with a flexible rotor wing device and a rotor wing tilting mechanism (51) corresponding to the flexible rotor wing device, and the coaxial four-rotor aircraft lifting system has the advantages that: the wind power distribution device has the technical characteristics of reasonable pneumatic layout, advanced structure and four sides of power distribution, and can well reduce wind field disturbance caused by the rotor wings and has low interference. The rotor wing tilting and rotor wing attitude control pitch-changing modes are unique, the degree of freedom of the variable lift force vector is large, the response is sensitive, the single rotor wing can be independently controlled in attitude, and the environmental kinetic energy compensation capability is strong. The lift system can control the directions of all rotor wing thrust to be consistent, aerodynamic force efficacy is obviously superior to that of the existing rotor wing aircraft, the lift system can adapt to operation under the working condition of complex environment, and the lift system has the characteristics of safety, stability and high efficiency.

Description

Lift system of coaxial four-rotor aircraft

Technical Field

The utility model relates to the technical field of rotor craft, in particular to a coaxial four-rotor craft lifting system.

Background

Currently, the main representatives of rotor type aircrafts are fixed pitch electric multi-rotor unmanned aerial vehicles and helicopters of backpack rotor topology. The rotor helicopter is the most widely used, and generally, one or two rotor blade systems are driven to rotate by fuel power, the rotor systems of the rotor helicopter are composed of blades and a rotor hub, the rotor hub is vertically hinged to a driving shaft, a swing hinge and a torque hinge are arranged on the rotor hub, the blades are arranged on the rotor hub in a hinged mode, and the torque of the blades is controlled by matching a hydraulic pull rod with a posture tilting disc on a slip ring. The rotor blade torque conversion system has the advantages of complex structural design, large volume of torque conversion mechanism parts, high energy consumption, limited torque conversion angle, low aerodynamic efficiency, poor environment adaptability and low safety stability, greatly limits the flying speed, can not develop in the directions of microminiaturization, unmanned aerial vehicle, multiple rotors and high navigational speed, and most safety accidents are caused by the failure of the hub system.

Disclosure of Invention

The present utility model addresses the above-described deficiencies by providing a coaxial four-rotor aircraft lift system.

The utility model comprises an I-shaped main transmission mechanism, four power output ends of the I-shaped main transmission mechanism are respectively provided with a flexible rotor wing device and a rotor wing tilting mechanism corresponding to the flexible rotor wing device,

the flexible rotor wing device comprises an upper rotor wing mechanism, a lower rotor wing mechanism, a multi-degree-of-freedom balancing mechanism and a three-stage gear box,

the three-stage gear box is of a three-way tubular structure, the power input end of the three-stage gear box is arranged on the power output end of the I-shaped main transmission mechanism,

the upper rotor wing mechanism and the lower rotor wing mechanism are respectively and reversely vertically arranged on two power output ends of the three-stage gear box and respectively drive the three-stage gear box with a transmission shaft of the power output end of the I-shaped main transmission mechanism;

the multi-degree-of-freedom balancing mechanism is arranged on the three-stage gear box and controls rotor hubs of the upper rotor mechanism and the lower rotor mechanism to incline in a synchronous posture;

the rotor tilting mechanism is arranged on the power output end of the I-shaped main transmission mechanism and controls the corresponding flexible rotor device to tilt at an angle.

The I-shaped main transmission mechanism comprises a primary gear box, wherein two power output ends of the primary gear box are symmetrically provided with primary transmission arms respectively, and primary transmission shafts are sleeved in the primary transmission arms through bearings;

the power output end of the primary transmission arm is provided with a secondary gear box with a three-way tubular structure, two power output ends of the secondary gear box are respectively symmetrically provided with a secondary transmission arm, a secondary transmission shaft is sleeved in the secondary transmission arm through a bearing sleeve, and a primary transmission shaft and the secondary transmission shaft are transmitted in the secondary gear box through bevel gears;

the power output end of the secondary transmission arm is movably connected with the power input end of the tertiary gear box, and the rotor tilting mechanism is arranged on the power output end of the secondary transmission arm and controls the corresponding flexible rotor device to tilt at an angle.

The upper rotor wing mechanism and the lower rotor wing mechanism comprise a flexible transmission assembly, a sleeve and a rotor wing hub, the flexible transmission assembly comprises a middle connecting member, two ends of the middle connecting member are respectively hinged with a non-planar cross connecting shaft member and a transmission shaft connecting member in sequence, one transmission shaft connecting member is fixedly connected with a driving shaft which is in transmission with the secondary transmission shaft, the other transmission shaft connecting member is fixedly connected with a driven shaft, the driven shaft is fixedly connected with the rotor wing hub, the sleeve is arranged at the power output end of the three-stage gear box, the driving shaft is sleeved in the sleeve in a sleeved mode, and an annular boss and a planar bearing which are matched with the sleeve are respectively arranged on the driving shaft;

the secondary transmission shaft and the driving shaft are transmitted in the three-stage gear box through bevel gears.

The multi-degree-of-freedom balance mechanism comprises a posture support disc, a posture control disc and a group of connecting rod control components,

the attitude supporting disc is fixedly arranged on the sleeve, the attitude control disc bearing is cooperatively arranged on the driven shaft and is positioned at the bottom of the rotor hub,

the connecting rod control assembly comprises a hydraulic oil cylinder, a lever structural member, a first pull rod and a second pull rod which are hinged in sequence, wherein the hydraulic oil cylinder and the lever structural member are respectively and movably hinged on a shell of the three-stage gearbox, a group of arched structural members are arranged on the gesture control disc, one end of the second pull rod is hinged on the arched structural members, and a group of pull rod limiting holes for limiting the first pull rod are arranged on the gesture support disc;

the power output end of the secondary transmission arm is provided with a fastening disc, and a pair of fastening pull rods which are respectively connected with the two gesture support discs are arranged on the fastening disc.

A special-shaped spring is arranged between the gesture supporting disc and the gesture control disc, the special-shaped spring is sleeved on the flexible transmission assembly, and the special-shaped spring is of an olive-shaped structure with thick middle and thin two ends.

The rotor tilting mechanism comprises a tilting motor, a reduction gear set, a worm wheel and a worm, wherein the power output end of the secondary transmission arm is fixedly connected with an annular connecting boss, a tilting bracket is arranged on the annular connecting boss, the tilting motor, the reduction gear set and the worm are respectively arranged on the tilting bracket, the worm wheel is fixedly connected to the power input end of the three-stage gear box, the tilting motor drives the worm to rotate through the reduction gear set, and the worm wheel are matched to drive the flexible rotor device to tilt at an angle;

an electromagnetic push rod is arranged on the annular connecting boss, and a group of tilting angle limiting holes matched with the electromagnetic push rod are arranged on the worm wheel.

The utility model has the advantages that: the wind power distribution device has the technical characteristics of reasonable pneumatic layout, advanced structure and four sides of power distribution, and can well reduce wind field disturbance caused by the rotor wings and has low interference. The rotor wing tilting and rotor wing attitude control pitch-changing modes are unique, the degree of freedom of the variable lift force vector is large, the response is sensitive, the single rotor wing can be independently controlled in attitude, and the environmental kinetic energy compensation capability is strong. The lift system can control the directions of all rotor wing thrust to be consistent, aerodynamic force efficacy is obviously superior to that of the existing rotor wing aircraft, the lift system can adapt to operation under the working condition of complex environment, and the lift system has the characteristics of safety, stability and high efficiency.

Drawings

Fig. 1 is a schematic diagram of the structure of the present utility model.

Fig. 2 is a schematic diagram of the structure of the i-shaped main transmission mechanism.

Fig. 3 is an enlarged schematic view of the portion a of fig. 2.

Fig. 4 is an enlarged schematic view of the portion B of fig. 2.

Fig. 5 is a schematic view of the upper rotor mechanism.

Fig. 6 is a schematic view of the lower rotor mechanism.

Fig. 7 is a schematic view of the flexible drive assembly in an exploded configuration.

Fig. 8 is a schematic diagram of a multi-degree of freedom balancing mechanism.

Fig. 9 is a schematic structural view of a rotor tilting mechanism.

Figure 10 is a schematic illustration of the rotor tilting mechanism coupled to a three stage gearbox.

Description of the embodiments

For the purpose of making the objects, technical solutions and advantages of the embodiments of the present utility model more apparent, the technical solutions of the embodiments of the present utility model will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present utility model, and it is apparent that the described embodiments are some embodiments of the present utility model, but not all embodiments of the present utility model. The components of the embodiments of the present utility model generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.

Thus, the following detailed description of the embodiments of the utility model, as presented in the figures, is not intended to limit the scope of the utility model, as claimed, but is merely representative of selected embodiments of the utility model. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model. It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further definition or explanation thereof is necessary in the following figures.

In the description of the embodiments of the present utility model, it should be noted that, if the terms "upper," "lower," "inner," "outer," and the like indicate an azimuth or a positional relationship based on the azimuth or the positional relationship shown in the drawings, or the azimuth or the positional relationship in which the inventive product is conventionally put in use, it is merely for convenience of describing the present utility model and simplifying the description, and does not indicate or imply that the apparatus or element to be referred to must have a specific azimuth, be configured and operated in a specific azimuth, and thus should not be construed as limiting the present utility model. Furthermore, the terms "first," "second," and the like in the description of the present utility model, if any, are used for distinguishing between the descriptions and not necessarily for indicating or implying a relative importance.

In the description of the embodiments of the present utility model, it should also be noted that, unless explicitly specified and limited otherwise, the terms "disposed," "connected," and "connected" should be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present utility model will be understood in specific cases by those of ordinary skill in the art.

As shown in the drawings, the utility model comprises an I-shaped main transmission mechanism 1, four power output ends of the I-shaped main transmission mechanism 1 are respectively provided with a flexible rotor wing device and a rotor wing tilting mechanism 51 corresponding to the flexible rotor wing device,

the flexible rotor device comprises an upper rotor mechanism 2, a lower rotor mechanism 3, a multi-degree-of-freedom balancing mechanism 4 and a three-stage gear box 7,

the three-stage gear box 7 is of a three-way tubular structure, the power input end of the three-stage gear box 7 is arranged on the power output end of the I-shaped main transmission mechanism 1,

the pipe orifices of the three-stage gear box 7 in three directions are respectively provided with an outwards protruding boss, screw holes are respectively arranged on the bosses, the outer sides of the bosses at the power input end are also provided with annular groove structures,

the upper rotor wing mechanism 2 and the lower rotor wing mechanism 3 are respectively and vertically arranged on two power output ends of the three-stage gear box 7 in opposite directions and respectively drive in the three-stage gear box 7 with a transmission shaft of the power output end of the I-shaped main transmission mechanism 1;

the multi-degree-of-freedom balancing mechanism 4 is arranged on the three-stage gear box 7 and controls the rotor hubs 8 of the upper rotor mechanism 2 and the lower rotor mechanism 3 to incline in a synchronous posture;

the rotor tilting mechanism 51 is mounted on the power output end of the i-shaped main transmission mechanism 1, and controls the corresponding flexible rotor device to perform angular tilting.

The I-shaped main transmission mechanism 1 is used as a transmission and supporting framework, the upper rotor wing mechanism 2 and the lower rotor wing mechanism 3 of the four flexible rotor wing devices are driven to synchronously rotate in operation, the rotation directions of the upper rotor wing mechanism 2 and the lower rotor wing mechanism 3 are opposite, and meanwhile, the installation directions of the windward angles of the blades of the upper rotor wing mechanism 2 and the lower rotor wing mechanism 3 are also opposite, so that thrust in the same direction can be generated in the synchronous rotation.

The number of rotor tilting mechanisms 51 is the same as that of the flexible rotor devices, and each rotor tilting mechanism 51 controls a corresponding flexible rotor device to perform integral angle tilting for controlling the flying direction.

The multi-degree-of-freedom balancing mechanism 4 can control rotor wing pitch variation of the upper rotor wing mechanism 2 and the lower rotor wing mechanism 3, and provides a larger degree of freedom for flight attitude adjustment.

The I-shaped main transmission mechanism 1 comprises a primary gear box 55, wherein two power output ends of the primary gear box 55 are symmetrically provided with primary transmission arms 56 respectively, and primary transmission shafts 57 are sleeved in the primary transmission arms 56 through bearings;

the power output end of the primary transmission arm 56 is provided with a secondary gear box 58 with a three-way tubular structure, two power output ends of the secondary gear box 58 are respectively symmetrically provided with a secondary transmission arm 59, a secondary transmission shaft 60 is sleeved in the secondary transmission arm 59 through a bearing,

the primary transmission shaft 57 and the secondary transmission shaft 60 are transmitted in the secondary gear box 58 through bevel gears;

the power output end of the secondary transmission arm 59 is movably connected with the power input end of the tertiary gearbox 7, and the rotor tilting mechanism 51 is mounted on the power output end of the secondary transmission arm 59 and controls the corresponding flexible rotor device to perform angle tilting.

A reduction gear is arranged in the primary gearbox 55, and two primary transmission shafts 57 are synchronously driven through the reduction gear;

the power output end of the secondary transmission shaft 60 is further transmitted with the two power input ends of the upper rotor mechanism 2 and the lower rotor mechanism 3 in the tertiary gear box 7 through bevel gears.

The upper rotor mechanism 2 and the lower rotor mechanism 3 both comprise a flexible transmission assembly 5, a sleeve 19 and a rotor hub 8, the flexible transmission assembly 5 comprises a middle connecting member 28, two ends of the middle connecting member 28 are respectively hinged with a non-planar cross connecting shaft member 18 and a transmission shaft connecting member 17 in sequence, one transmission shaft connecting member 17 is fixedly connected with a driving shaft 16 which is in transmission with a secondary transmission shaft 60, the other transmission shaft connecting member 17 is fixedly connected with a driven shaft 14, the driven shaft 14 is fixedly connected with the rotor hub 8, the sleeve 19 is arranged on the power output end of the three-stage gearbox 7, the driving shaft 16 is sleeved in the sleeve 19, and annular bosses 27 and plane bearings 29 which are matched with the sleeve 19 are respectively arranged on the driving shaft 16;

the secondary transmission shaft 60 and the driving shaft 16 are transmitted in the tertiary gearbox 7 through bevel gears.

The middle connecting member 28 is a special-shaped piece with two circular tube-shaped ends which are mutually 90 DEG vertical plane semicircular openings, and the upper end and the lower end are crossed and provided with connecting holes; the non-planar cross connecting shaft member 18 consists of two round steel shafts and a rectangular steel body, wherein the two round steel shafts are distributed in a vertically staggered manner, and the center part of each round steel shaft and the corresponding rectangular steel body are provided with through pin holes, so that the round steel shafts can be conveniently limited after being installed;

the round steel shafts at one end of the two non-planar cross-shaped shaft members 18 are respectively mounted in the connecting holes at the upper and lower ends of the intermediate connecting member 28 through needle bearings,

the round steel shafts at the other ends of the two non-planar cross-shaped connecting shaft members 18 are respectively reinstalled into the connecting holes of the two transmission shaft connecting members 17 through needle bearings,

the two transmission shaft connecting members 17 are fixedly connected with the corresponding driving shaft 16 and driven shaft 14 respectively, the structure can further increase the tilting angle, the control is more flexible, and the front, rear, left, right and other omnidirectional tilting can be carried out.

When the sleeve 19 is installed, one end of the sleeve 19 extends into the three-stage gearbox 7 and is fixedly connected with the flange of the three-stage gearbox 7, the driving shaft 16 is coaxially installed in the sleeve 19 through bearing fit, a circle of limiting boss matched with the plane bearing 29 is arranged in the sleeve 19, namely the plane bearing 29 is positioned between the limiting boss and the annular boss 27 and used for limiting the axial position of the driving shaft 16, and the axial lifting force of the driving shaft 16 is not influenced when the driving shaft 16 rotates.

The flexible transmission assembly 5 is a coupling capable of deflecting at multiple angles and is used for transmitting kinetic energy output by the transmission shaft 13, and the flexible transmission assembly can perform tilting at multiple angles while rotating.

The multiple degree of freedom balancing mechanism 4 includes a posture support disc 20, a posture control disc 22 and a set of linkage control assemblies,

the attitude support disc 20 is fixedly mounted on the sleeve 19, the attitude control disc 22 is bearing-fitted on the driven shaft 14, and is located at the bottom of the rotor hub 8,

the connecting rod control assembly comprises a hydraulic oil cylinder 25, a lever structural member 24, a first pull rod 21 and a second pull rod 23 which are hinged in sequence,

the hydraulic cylinder 25 and the lever structural member 24 are respectively articulated on the shell of the three-stage gear box 7, a group of arch structural members 30 are arranged on the gesture control disc 22, one end of the second pull rod 23 is articulated on the arch structural members 30,

the gesture support disc 20 is provided with a group of pull rod limiting holes for limiting the first pull rod 21;

the power output end of the secondary transmission arm 59 is provided with a tightening disk 40, and a pair of tightening levers 41 respectively connected to the two posture support disks 20 are provided on the tightening disk 40.

A special-shaped spring 6 is arranged between the gesture supporting disc 20 and the gesture controlling disc 22, the special-shaped spring 6 is sleeved on the flexible transmission assembly 5, and the special-shaped spring 6 is of an olive-shaped structure with thick middle and thin two ends. The potential energy generated when the rotor hub 8 rotates can be well damped, and meanwhile, the flexible transmission assembly 5 can be kept stable when being tilted at an angle.

The gesture support disc 20 is a fixed part, is fixedly connected with the sleeve 19 and is used for limiting and guiding the sliding of the first pull rod 21 and simultaneously providing mounting support for the special-shaped spring 6.

The attitude control disc 22 is a movable part and is sleeved on the driven shaft 14 through a bearing, the driven shaft 14 is fixedly connected with the rotor hub 8, the attitude control disc 22 is always kept parallel to the rotor hub 8, and when the rotor hub 8 rotates, the attitude control disc 22 is kept motionless, and when the attitude control disc 22 tilts, the rotor hub 8 tilts with steps.

Therefore, when the tilting angle of the rotor hub 8 needs to be adjusted, the hydraulic cylinder 25 is started, the lever structural member 24 is used for prying the first pull rod 21 to push the second pull rod 23, then the second pull rod 23 jacks up one side of the attitude control disc 22 to enable the second pull rod to tilt, and at the moment, the rotor hub 8 tilts synchronously, namely, the change of the thrust direction of the rotor hub 8 is controlled, and the aim of precise control of the omni-directional lift force vector of the rotor is achieved.

The arch-shaped structural member 30 is unfolded outwards, the second pull rod 23 is movably connected with the arch-shaped structural member 30, and when the flexible transmission assembly 5 tilts, the special-shaped spring 6 follows deformation and cannot interfere with the second pull rod 23.

Rotor tilting mechanism 51 includes a tilting motor 70, a reduction gear set 71, a worm wheel 72 and a worm 73,

the power output end of the secondary transmission arm 59 is fixedly connected with an annular connecting boss 75, and a tilting bracket 78 is arranged on the annular connecting boss 75,

the tilting motor 70, the reduction gear set 71 and the worm 73 are respectively mounted on the tilting bracket 78,

the worm gear 72 is fixedly connected to the three-stage gear box 7, the tilting motor 70 drives the worm 73 to rotate through the reduction gear set 71, and the worm 73 and the worm gear 72 are matched to drive the flexible rotor wing device to tilt at an angle;

this case two-stage drive arm 59 all passes through bearing cooperation swing joint between fastening disc 40 and the tertiary gear box 7, and annular connection boss 75 is located between fastening disc 40 and the tertiary gear box 7, and the both sides of annular connection boss 75 all are equipped with annular groove, are equipped with a set of steel ball in annular groove and are used for reducing friction, and annular connection boss 75 is the mounting, and whole flexible rotor device uses two-stage drive arm 59 as the axle center to incline to change, reaches the purpose of control flight direction.

An electromagnetic push rod 77 is arranged on the annular connecting boss 75, and a group of tilting angle limiting holes matched with the electromagnetic push rod 77 are arranged on the worm wheel 72. After the whole flexible rotor device tilts, one end of the electromagnetic push rod 77 extends out and is inserted into the tilting angle limiting hole on the worm gear 72, so that the tilting angle can be kept fixed.

Claims

1. A lift system of a coaxial four-rotor aircraft is characterized by comprising an I-shaped main transmission mechanism (1), wherein four power output ends of the I-shaped main transmission mechanism (1) are respectively provided with a flexible rotor wing device and a rotor wing tilting mechanism (51) corresponding to the flexible rotor wing device,

the flexible rotor wing device comprises an upper rotor wing mechanism (2), a lower rotor wing mechanism (3), a multi-degree-of-freedom balancing mechanism (4) and a three-stage gear box (7),

the three-stage gear box (7) is of a three-way tubular structure, the power input end of the three-stage gear box (7) is arranged on the power output end of the I-shaped main transmission mechanism (1),

the upper rotor wing mechanism (2) and the lower rotor wing mechanism (3) are respectively and vertically arranged on two power output ends of the three-stage gear box (7) in opposite directions and respectively drive the three-stage gear box (7) with a transmission shaft of the power output end of the I-shaped main transmission mechanism (1);

the multi-degree-of-freedom balancing mechanism (4) is arranged on the three-stage gear box (7) and controls the rotor hubs (8) of the upper rotor mechanism (2) and the lower rotor mechanism (3) to incline in a synchronous posture;

the rotor tilting mechanism (51) is arranged on the power output end of the I-shaped main transmission mechanism (1) and controls the corresponding flexible rotor device to tilt at an angle.

2. The lift system of the coaxial four-rotor aircraft according to claim 1, wherein the I-shaped main transmission mechanism (1) comprises a primary gear box (55), two power output ends of the primary gear box (55) are symmetrically provided with primary transmission arms (56) respectively, and primary transmission shafts (57) are sleeved in the primary transmission arms (56) through bearings;

the power output end of the primary transmission arm (56) is provided with a secondary gear box (58) with a three-way tubular structure, two power output ends of the secondary gear box (58) are respectively symmetrically provided with a secondary transmission arm (59), a secondary transmission shaft (60) is sleeved in the secondary transmission arm (59) through a bearing, and a primary transmission shaft (57) and the secondary transmission shaft (60) are transmitted in the secondary gear box (58) through a bevel gear;

the power output end of the secondary transmission arm (59) is movably connected with the power input end of the tertiary gear box (7), and the rotor tilting mechanism (51) is arranged on the power output end of the secondary transmission arm (59) and controls the corresponding flexible rotor device to tilt at an angle.

3. The lift system of the coaxial four-rotor aircraft according to claim 2, characterized in that the upper rotor mechanism (2) and the lower rotor mechanism (3) comprise a flexible transmission assembly (5), a sleeve (19) and a rotor hub (8), the flexible transmission assembly (5) comprises an intermediate connecting member (28), two ends of the intermediate connecting member (28) are respectively hinged with a non-planar cross connecting member (18) and a transmission shaft connecting member (17) in sequence, one transmission shaft connecting member (17) is fixedly connected with a driving shaft (16) which is in transmission with a secondary transmission shaft (60), the other transmission shaft connecting member (17) is fixedly connected with a driven shaft (14), the driven shaft (14) is fixedly connected with the rotor hub (8), the sleeve (19) is arranged on the power output end of the three-stage gearbox (7), the driving shaft (16) is sleeved in the sleeve (19), and annular bosses (27) and plane bearings (29) which are matched with the sleeve (19) are respectively arranged on the driving shaft (16);

the secondary transmission shaft (60) and the driving shaft (16) are transmitted in the tertiary gear box (7) through bevel gears.

4. A coaxial four-rotor aircraft lift system according to claim 3, characterized in that the multiple degree of freedom balancing mechanism (4) comprises a attitude support disk (20), an attitude control disk (22) and a set of linkage control assemblies,

the attitude support disc (20) is fixedly arranged on the sleeve (19), the attitude control disc (22) is arranged on the driven shaft (14) in a bearing fit way and is positioned at the bottom of the rotor hub (8),

the connecting rod control assembly comprises a hydraulic oil cylinder (25), a lever structural member (24), a first pull rod (21) and a second pull rod (23) which are hinged in sequence, wherein the hydraulic oil cylinder (25) and the lever structural member (24) are respectively and movably hinged on a shell of the three-stage gear box (7), a group of arched structural members (30) are arranged on the gesture control disc (22), one end of the second pull rod (23) is hinged on the arched structural member (30), and a group of pull rod limiting holes for limiting the first pull rod (21) are arranged on the gesture support disc (20);

the power output end of the secondary transmission arm (59) is provided with a fastening disc (40), and the fastening disc (40) is provided with a pair of fastening pull rods (41) which are respectively connected with the two gesture support discs (20).

5. The lift system of the coaxial four-rotor aircraft according to claim 4, wherein a special-shaped spring (6) is arranged between the gesture supporting disc (20) and the gesture control disc (22), the special-shaped spring (6) is sleeved on the flexible transmission assembly (5), and the special-shaped spring (6) is of an olive-shaped structure with thick middle and thin two ends.

6. The lift system of the coaxial four-rotor aircraft according to claim 2, wherein the rotor tilting mechanism (51) comprises a tilting motor (70), a reduction gear set (71), a worm wheel (72) and a worm (73), the power output end of the secondary transmission arm (59) is fixedly connected with an annular connecting boss (75), the annular connecting boss (75) is provided with a tilting bracket (78), the tilting motor (70), the reduction gear set (71) and the worm (73) are respectively arranged on the tilting bracket (78), the worm wheel (72) is fixedly connected to the power input end of the three-stage gearbox (7), the tilting motor (70) drives the worm (73) to rotate through the reduction gear set (71), and the worm (73) and the worm wheel (72) are matched to drive the flexible rotor device to tilt at an angle;

an electromagnetic push rod (77) is arranged on the annular connecting boss (75), and a group of tilting angle limiting holes matched with the electromagnetic push rod (77) are arranged on the worm wheel (72).